Resea ch A icle
Pe e Michalik*, Jana Fabiano a, Leopold H abo sky, Ma inko Masla ić, Lubosla S aka and
Joze Macej
Assessmen o a obo base p oduc ion using
CAM p og amming o he FANUC con ol sys em
h ps://doi.o g/10.1515/eng-2021-0085
ecei ed June 04, 2021; accep ed July 26, 2021
Abs ac : The subjec o he a icle is he esea ch o he
p oduc ion o a obo base using CAM p og amming,
Au odesk In en o HSM so wa e, ollowed by he gen-
e a ion o G code –NC p og am. The esea ch specifically
examined he accu acy o measu emen and e alua ion
o oundness wi h coaxiali y on a 3D measu ing de ice
Thome. The su ace oughness o he ci cula holes was
measu ed using a Mi u oyo SJ 400 oughness me e . The
maximum de ia ion o he oundness o he diame e
D56H7 measu ed was 0.011 mm, and he diame e D72H7
measu ed was 0.013 mm. The coaxiali y de ia ion o he
diame e s D56H7 and D72H7 measu ed was 0.017 mm.
Keywo ds: obo , CAM, coaxiali y, oughness, obo base
1 In oduc ion
Robo ics is cu en ly es ablished no only in indus y bu
also in esea ch labo a o ies. This e m can be used e en
in a eas whe e i is inapp op ia e, so knowing exac ly
wha he wo d obo means, how i is con olled and how
i canbeusedinspecificapplica ionsis e yimpo an .
Souza e al. [1]designed a wi eless ligh weigh obo ic
a m o eaching pu poses ha se es only o p og am i s
pa h wi hou a g ippe . And ou obo ic a m can be used
no only o educa ional bu also o indus ial pu poses,
handling ligh loads up o 2 kg. Unda e al. [2]in oduced
he mos gene al case s udy o he mo emen o a mobile
obo wi h obo ic a m. The ou -wheel diffe en ial config-
u a ion allows g ea e s abili y o obo ic a m ope a ion.
In addi ion, he design allows he inco po a ion o senso s
such as ul asonic senso s o in e ac ion wi h obs acles.
The buil obo ic a m allows he clamping o pieces o less
han 20 g, a a maximum dis ance o 350 mm om he base
o he obo ic a m. Beni ez e al. [3]designed and manu-
ac u ed a simple obo ic a m o online eaching o s u-
den s. Fo compa ison wi h ou obo ic a m, which was
p oduced by he chip milling me hod, Beni ez e al. made
a ms on a 3D p in e wi h p in ing a ms made o plas ic
ma e ials. This me hod o p oduc ion is commonly a ail-
able o mos s uden s. Sáenz Zama ón e al. [4]de eloped
Educa ional Robo A m, which has ou axes o eedom
and is also in ended o educa ional pu poses, howe e .
Ou obo ic a m has one less deg ee o eedom. Simila ly,
he componen s o ou obo ic a m we e ab ica ed by
he chip me hod on a CNC milling machining cen e .
Zama ón e al. used Robo ics Toolbox o simula e he
con ol o he Ma lab obo ic a m and we a e conside ing
he use o LabView so wa e. We also conside he con ol
uni A duino.
One o he specific applica ions is he use o obo ic
wo kplaces in he handling and anspo o a ious
p oduc s using ough and hose con eyo s, which a e
cu en ly finding inc easing use [6]. The indi idual com-
ponen s o he obo s a e also manu ac u ed using CAM
p og amming [7]. The obo s a e di ided acco ding o
a ious c i e ia. One o hem is he di ision acco ding
o kinema ics. The fi s ype is he cylind ical coo dina ion
sys em (Figu e 1)[13].
This cons uc ion pe o ms h ee p ima y mo emen s,
o which wo mo emen s a e ansla ional and he hi d is
o a y. The coo dina ion sys em is no widely ep esen ed
in he indus y and wi h a cons uc ion based on a

* Co esponding au ho : Pe e Michalik, Facul y o Manu ac u ing
Technologies, Technical Uni e si y o Košice wi h a sea in P ešo ,
Baye o a 1, 080 01 P ešo , Slo ak Republic,
e-mail: [email p o ec ed]
Jana Fabiano a: Facul y o Mining, Ecology, P ocess Con ol and
Geo echnologies, Technical Uni e si y o Košice, Pa k Komenského
14, 040 01 Košice, Slo ak Republic
Leopold H abo sky: Facul y o Mechanical Enginee ing, VŠB-
Technical Uni e si y o Os a a, 17. lis opadu 2172/15, 708 00
Os a a -Po uba, Czech Republic
Ma inko Masla ić:Facul y o Technical Sciences, Uni e si y o No i
Sad, T g Dosi eja Ob ado ica 6, 21000 No i Sad, Se bia
Lubosla S aka, Joze Macej: Facul y o Manu ac u ing
Technologies, Technical Uni e si y o Košice wi h a sea in P ešo ,
Baye o a 1, 080 01 P ešo , Slo ak Republic
Open Enginee ing 2021; 11: 922–928
Open Access. © 2021 Pe e Michalik e al., published by De G uy e . This wo k is licensed unde he C ea i e Commons A ibu ion 4.0
In e na ional License.
cylind ical sys em o mo emen s, i is used o p imi i e
asks, such as spo welding, o as a simple manipula o .
The obo nodes a e inspec ed by he fini e elemen
me hod [5]no only o he magni ude o he s ess
bu also o he magni ude o he de o ma ion [8].P io
o ac ual p oduc ion o some obo componen s, he
p ope ies o he ma e ials a e also checked [11]. In addi-
ion o con en ional machining echnologies, wa e je
machining is used o p oduce some obo componen s
[10], while i is also necessa y o con ol he quali y o
he machined su ace [12]. A he s a ing poin , he con-
ol uni is ins uc ed o s a he mo o s in he o de
specified by he p og am un il he posi ion equi ed
o each he end poin posi ion is eached. The whole
cycle is epea ed ei he immedia ely a e eaching he
s a ing poin o a e ins uc ing a ime o a pulse om
he senso –came as [9].
2 Robo base
Robo base in Figu e 2 shows ha 3D model is one o he
pa s o he obo assembly, i o ms he base o he obo ,
he e o e i s design paid a en ion o i s igidi y and load-
bea ing capaci y and i s dimensions we e chosen on he
basis o hese equi emen s. The base o he obo houses
a gea box wi h a se omo o , which pe o ms a o a y
mo emen o he a m ins alled on he base. High emph-
asis is placed on moun ing he gea box in he obo base.
I s moun ing mus be as p ecise as possible in o de o
p e en o minimize de ia ions o he a m o a ional
mo emen . The gea box is housed in ole a ed holes
D56H7 and D72H7. The placemen o H7 a a gi en dimen-
sion ep esen s a hole ole ance o 0.015 mm. To p oduce
hese ole a ed dimensions, a eaming ope a ion wi h a
bo ing ba was chosen.
2.1 P ocedu e o obo base p og amming
and p oduc ion
Fo p og amming he p oduc ion o ole a ed dimensions
o he obo base, he d awing documen a ion in Figu e 3
wi h a oughness R
z
o 12.5 μm, made o Al4.5MgMn ma e-
ial, was documen ed. The ools used o p oduce ole -
a ed holes we e as ollows:
•Face d ill 880-D4100C6-03,
Figu e 1: Cylind ical coo dina ion sys em o a obo [13].
Figu e 2: 3D model o a obo base.
Assessmen o a obo base p oduc ion using CAM p og amming 923
•Ca bide 4 –pla e cu e wi h a diame e o Ø 20 mm, and
•ISCAR BHF-MB50-80 bo ing ba .
Machining was designed in he CAD/CAM p og am
Au odesk In en o HSM. The oughened base o he obo
was clamped o he wo k able using ou clamps.
The fi s s ep in p og amming he machining o he
obo base was o selec he size o he semi-finished
p oduc and se i s ze o alue (Figu e 4). The ze o poin
was selec ed in he middle o he cylind ical pa o he
obo base wi h a diame e o D140 mm.
This was ollowed by d illing and se ing he cu ing
condi ions o he defined d illing cycle (Figu e 5). A d ill
bi wi h a diame e o D41 mm unde ype designa ion
880-D4100C6-03 was used o d illing. The d illing dep h
was 15 mm. A e d illing a D41 mm hole, an adap i e
milling ope a ion was pe o med using a ca bide ou -
pla e cu e wi h a diame e o D20 mm. In his machining
s a egy, he cu e was plunged o a dep h o 4 mm and
he hole D41 mm was enla ged o a diame e o D72 mm
wi h he addi ion o 0.3 mm.
The o e all dimension o he hole p oduced was
D71.7 mm. An allowance o 0.3 mm was chosen o he
las eaming ope a ion when he final dimension o he
hole is made o ole ance H7, which means ha he hole
has a dimension o D72.015 mm (Figu e 6).
Du ing p og amming, a eaming cycle was selec ed
in which a ool was defined –a bo ing ba , he cons uc-
ion o which allows you o se diame e s by one hun-
d ed h o a millime e .
The 3-axis e ical machining cen e Pinnacle VMC
650S was chosen o p oduce he obo base. Figu e 7 shows
hole milling on he Pinnacle VMC 650S. The machining
cen e is con olled by he FANUC con ol sys em.
The p ocedu e o p oduce a hole wi h he diame e o
Ø 56 H7 is he same as o he p oduc ion o a hole Ø 72 H7.
Figu e 3: P oduc ion d awing o a obo base.
Figu e 4: Se ing o ze o poin o he obo base.
924 Pe e Michalik e al.
3 Resul s
The p oduc ion o ole a ed dimensions was ollowed by
measu emen s in which he su ace oughness o he
indi idual holes, he oundness and he coaxiali y o
he holes we e de e mined. The su ace oughness was
measu ed using a Mi u oyo SJ 400 oughness me e
(Figu e 8). The measu emen s we e epea ed 11 imes.
The esul s o measu emen s o indi idual holes a e
shown in he g aphs in Figu es 9 and 10.
The ollowing alues we e ound by measu emen :
hole D56H7 highes alue o su ace oughness R
a
=
Figu e 5: Se ing o cu ing pa ame e s.
Figu e 6: Defining o adap i e milling pa ame e s.
Assessmen o a obo base p oduc ion using CAM p og amming 925
1.01 μm, R
z
=8.4 μm. The lowes su ace oughness R
a
was 0.58 μm and he lowes R
z
alue was 3.6 μm. Fo a
hole wi h dimension D72H7, he highes su ace ough-
ness was R
a
=1.08 μm and R
z
=9.2 μm. The lowes su ace
oughness R
a
was 0.57 μm and R
z
was 3.8 μm.
Ano he measu ed pa ame e was he oundness and
coaxiali y o he holes. These pa ame e s we e measu ed
on a 3D measu ing de ice o he Thome ype. Figu e 11
shows he measu emen o hese pa ame e s.
Figu e 12 shows he assembled obo base wi h obo ic
a m 1, gea box and ac ua o .
The quali y o he machining p ocess was e alua ed
using he p ocess capabili y index C
P
, which is defined by
he ollowing ela ion:=−
C
σ
USL LSL
6,
P(1)
whe e USL is he uppe specifica ion limi , LSL is he
lowe specifica ion limi and σis he s anda d de ia ion
o he p ocess.
Fo diame e 56H7 he alue o C
P
=0.56 and o
diame e 72H7 he alue o C
P
=0.74.
Figu e 7: Hole milling on he Pinnacle VMC 650S.
Figu e 8: Measu emen o he su ace oughness o he hole D56H7. Figu e 10: Roughness o he hole su ace wi h diame e D72H7.
Figu e 9: Roughness o he hole su ace wi h diame e D56H7.
926 Pe e Michalik e al.

4 Conclusion
The p oposed me hod o p oduc ion o he obo base
was ealised on a h ee-axis machining cen e Pinnacle
VMC 650S. The quali y o machining was e ified using
he p ocess capabili y index C
P
. The CAD/CAM p og am
Au odesk In en o HSM was used o CAM p og amm-
ing. Cylind ical holes wi h diame e s D56H7 and D72H7
we e made in h ee ope a ions: d illing, adap i e milling–
punching and eaming. The esul o measu ing he ound-
ness o he hole D56H7 was 0.011 mm, and o he hole
D72H7 i was 0.013 mm. The coaxially de ia ion be ween
holes D56H7 and D72H7 was 0.017, which mee s he
equi ed ole ance o gi en dimensional ange. A e e al-
ua ing hese esul s, we can conclude ha he chosen
me hod o p oduc ion and measu emen o he obo
base allows you o c ea e he equi ed assembly along
wi h a ecommenda ion o p oduc ion o o he obo
componen s.
Acknowledgmen s: This wo k is a pa o esea ch p ojec
VEGA 1/0045/18 and SK-SRB-18-0053.
Conflic o in e es : Au ho s s a e no conflic o in e es .
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